Improvement of the PD controller Based on the Disturbance Observer for Trajectory Tracking in Underwater Vehicles.
Jesus GuerreroJorge TorresMonica ZúñigaPublished in: CCE (2022)
Keyphrases
- trajectory tracking
- underwater vehicles
- closed loop
- dynamic model
- bi directional
- control system
- iterative learning
- physical constraints
- iterative learning control
- control method
- control law
- neural network controller
- sliding mode
- visual servoing
- fault identification
- error reduction
- control scheme
- desired trajectory
- computer simulation
- adaptive control
- control algorithm
- variable structure
- control strategy
- feedback control
- vision system
- stability analysis
- pid controller
- motion planning
- significant improvement
- fuzzy controller
- optimal control